EP3113915B1 - Joining tool, joining device and joining method - Google Patents
Joining tool, joining device and joining method Download PDFInfo
- Publication number
- EP3113915B1 EP3113915B1 EP15712080.9A EP15712080A EP3113915B1 EP 3113915 B1 EP3113915 B1 EP 3113915B1 EP 15712080 A EP15712080 A EP 15712080A EP 3113915 B1 EP3113915 B1 EP 3113915B1
- Authority
- EP
- European Patent Office
- Prior art keywords
- joining
- component
- workpiece
- tool
- industrial robots
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
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- 238000000034 method Methods 0.000 title claims description 36
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Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K31/00—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups
- B23K31/02—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups relating to soldering or welding
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
- B25J15/0066—Gripping heads and other end effectors multiple gripper units or multiple end effectors with different types of end effectors, e.g. gripper and welding gun
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C65/00—Joining or sealing of preformed parts, e.g. welding of plastics materials; Apparatus therefor
- B29C65/02—Joining or sealing of preformed parts, e.g. welding of plastics materials; Apparatus therefor by heating, with or without pressure
- B29C65/18—Joining or sealing of preformed parts, e.g. welding of plastics materials; Apparatus therefor by heating, with or without pressure using heated tools
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C65/00—Joining or sealing of preformed parts, e.g. welding of plastics materials; Apparatus therefor
- B29C65/78—Means for handling the parts to be joined, e.g. for making containers or hollow articles, e.g. means for handling sheets, plates, web-like materials, tubular articles, hollow articles or elements to be joined therewith; Means for discharging the joined articles from the joining apparatus
- B29C65/7841—Holding or clamping means for handling purposes
- B29C65/7847—Holding or clamping means for handling purposes using vacuum to hold at least one of the parts to be joined
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C66/00—General aspects of processes or apparatus for joining preformed parts
- B29C66/70—General aspects of processes or apparatus for joining preformed parts characterised by the composition, physical properties or the structure of the material of the parts to be joined; Joining with non-plastics material
- B29C66/72—General aspects of processes or apparatus for joining preformed parts characterised by the composition, physical properties or the structure of the material of the parts to be joined; Joining with non-plastics material characterised by the structure of the material of the parts to be joined
- B29C66/721—Fibre-reinforced materials
- B29C66/7212—Fibre-reinforced materials characterised by the composition of the fibres
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C66/00—General aspects of processes or apparatus for joining preformed parts
- B29C66/80—General aspects of machine operations or constructions and parts thereof
- B29C66/84—Specific machine types or machines suitable for specific applications
- B29C66/865—Independently movable welding apparatus, e.g. on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C66/00—General aspects of processes or apparatus for joining preformed parts
- B29C66/90—Measuring or controlling the joining process
- B29C66/91—Measuring or controlling the joining process by measuring or controlling the temperature, the heat or the thermal flux
- B29C66/912—Measuring or controlling the joining process by measuring or controlling the temperature, the heat or the thermal flux by measuring the temperature, the heat or the thermal flux
- B29C66/9121—Measuring or controlling the joining process by measuring or controlling the temperature, the heat or the thermal flux by measuring the temperature, the heat or the thermal flux by measuring the temperature
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C66/00—General aspects of processes or apparatus for joining preformed parts
- B29C66/90—Measuring or controlling the joining process
- B29C66/91—Measuring or controlling the joining process by measuring or controlling the temperature, the heat or the thermal flux
- B29C66/914—Measuring or controlling the joining process by measuring or controlling the temperature, the heat or the thermal flux by controlling or regulating the temperature, the heat or the thermal flux
- B29C66/9141—Measuring or controlling the joining process by measuring or controlling the temperature, the heat or the thermal flux by controlling or regulating the temperature, the heat or the thermal flux by controlling or regulating the temperature
- B29C66/91421—Measuring or controlling the joining process by measuring or controlling the temperature, the heat or the thermal flux by controlling or regulating the temperature, the heat or the thermal flux by controlling or regulating the temperature of the joining tools
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C66/00—General aspects of processes or apparatus for joining preformed parts
- B29C66/90—Measuring or controlling the joining process
- B29C66/92—Measuring or controlling the joining process by measuring or controlling the pressure, the force, the mechanical power or the displacement of the joining tools
- B29C66/922—Measuring or controlling the joining process by measuring or controlling the pressure, the force, the mechanical power or the displacement of the joining tools by measuring the pressure, the force, the mechanical power or the displacement of the joining tools
- B29C66/9231—Measuring or controlling the joining process by measuring or controlling the pressure, the force, the mechanical power or the displacement of the joining tools by measuring the pressure, the force, the mechanical power or the displacement of the joining tools by measuring the displacement of the joining tools
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C66/00—General aspects of processes or apparatus for joining preformed parts
- B29C66/90—Measuring or controlling the joining process
- B29C66/92—Measuring or controlling the joining process by measuring or controlling the pressure, the force, the mechanical power or the displacement of the joining tools
- B29C66/924—Measuring or controlling the joining process by measuring or controlling the pressure, the force, the mechanical power or the displacement of the joining tools by controlling or regulating the pressure, the force, the mechanical power or the displacement of the joining tools
- B29C66/9241—Measuring or controlling the joining process by measuring or controlling the pressure, the force, the mechanical power or the displacement of the joining tools by controlling or regulating the pressure, the force, the mechanical power or the displacement of the joining tools by controlling or regulating the pressure, the force or the mechanical power
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F5/00—Designing, manufacturing, assembling, cleaning, maintaining or repairing aircraft, not otherwise provided for; Handling, transporting, testing or inspecting aircraft components, not otherwise provided for
- B64F5/10—Manufacturing or assembling aircraft, e.g. jigs therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P2700/00—Indexing scheme relating to the articles being treated, e.g. manufactured, repaired, assembled, connected or other operations covered in the subgroups
- B23P2700/01—Aircraft parts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C65/00—Joining or sealing of preformed parts, e.g. welding of plastics materials; Apparatus therefor
- B29C65/78—Means for handling the parts to be joined, e.g. for making containers or hollow articles, e.g. means for handling sheets, plates, web-like materials, tubular articles, hollow articles or elements to be joined therewith; Means for discharging the joined articles from the joining apparatus
- B29C65/7802—Positioning the parts to be joined, e.g. aligning, indexing or centring
- B29C65/7838—Positioning the parts to be joined, e.g. aligning, indexing or centring from the inside, e.g. of tubular or hollow articles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C66/00—General aspects of processes or apparatus for joining preformed parts
- B29C66/01—General aspects dealing with the joint area or with the area to be joined
- B29C66/05—Particular design of joint configurations
- B29C66/10—Particular design of joint configurations particular design of the joint cross-sections
- B29C66/11—Joint cross-sections comprising a single joint-segment, i.e. one of the parts to be joined comprising a single joint-segment in the joint cross-section
- B29C66/112—Single lapped joints
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C66/00—General aspects of processes or apparatus for joining preformed parts
- B29C66/01—General aspects dealing with the joint area or with the area to be joined
- B29C66/05—Particular design of joint configurations
- B29C66/10—Particular design of joint configurations particular design of the joint cross-sections
- B29C66/13—Single flanged joints; Fin-type joints; Single hem joints; Edge joints; Interpenetrating fingered joints; Other specific particular designs of joint cross-sections not provided for in groups B29C66/11 - B29C66/12
- B29C66/131—Single flanged joints, i.e. one of the parts to be joined being rigid and flanged in the joint area
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C66/00—General aspects of processes or apparatus for joining preformed parts
- B29C66/01—General aspects dealing with the joint area or with the area to be joined
- B29C66/05—Particular design of joint configurations
- B29C66/20—Particular design of joint configurations particular design of the joint lines, e.g. of the weld lines
- B29C66/21—Particular design of joint configurations particular design of the joint lines, e.g. of the weld lines said joint lines being formed by a single dot or dash or by several dots or dashes, i.e. spot joining or spot welding
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C66/00—General aspects of processes or apparatus for joining preformed parts
- B29C66/50—General aspects of joining tubular articles; General aspects of joining long products, i.e. bars or profiled elements; General aspects of joining single elements to tubular articles, hollow articles or bars; General aspects of joining several hollow-preforms to form hollow or tubular articles
- B29C66/51—Joining tubular articles, profiled elements or bars; Joining single elements to tubular articles, hollow articles or bars; Joining several hollow-preforms to form hollow or tubular articles
- B29C66/53—Joining single elements to tubular articles, hollow articles or bars
- B29C66/532—Joining single elements to the wall of tubular articles, hollow articles or bars
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C66/00—General aspects of processes or apparatus for joining preformed parts
- B29C66/50—General aspects of joining tubular articles; General aspects of joining long products, i.e. bars or profiled elements; General aspects of joining single elements to tubular articles, hollow articles or bars; General aspects of joining several hollow-preforms to form hollow or tubular articles
- B29C66/51—Joining tubular articles, profiled elements or bars; Joining single elements to tubular articles, hollow articles or bars; Joining several hollow-preforms to form hollow or tubular articles
- B29C66/54—Joining several hollow-preforms, e.g. half-shells, to form hollow articles, e.g. for making balls, containers; Joining several hollow-preforms, e.g. half-cylinders, to form tubular articles
- B29C66/543—Joining several hollow-preforms, e.g. half-shells, to form hollow articles, e.g. for making balls, containers; Joining several hollow-preforms, e.g. half-cylinders, to form tubular articles joining more than two hollow-preforms to form said hollow articles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C66/00—General aspects of processes or apparatus for joining preformed parts
- B29C66/50—General aspects of joining tubular articles; General aspects of joining long products, i.e. bars or profiled elements; General aspects of joining single elements to tubular articles, hollow articles or bars; General aspects of joining several hollow-preforms to form hollow or tubular articles
- B29C66/51—Joining tubular articles, profiled elements or bars; Joining single elements to tubular articles, hollow articles or bars; Joining several hollow-preforms to form hollow or tubular articles
- B29C66/54—Joining several hollow-preforms, e.g. half-shells, to form hollow articles, e.g. for making balls, containers; Joining several hollow-preforms, e.g. half-cylinders, to form tubular articles
- B29C66/545—Joining several hollow-preforms, e.g. half-shells, to form hollow articles, e.g. for making balls, containers; Joining several hollow-preforms, e.g. half-cylinders, to form tubular articles one hollow-preform being placed inside the other
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C66/00—General aspects of processes or apparatus for joining preformed parts
- B29C66/70—General aspects of processes or apparatus for joining preformed parts characterised by the composition, physical properties or the structure of the material of the parts to be joined; Joining with non-plastics material
- B29C66/72—General aspects of processes or apparatus for joining preformed parts characterised by the composition, physical properties or the structure of the material of the parts to be joined; Joining with non-plastics material characterised by the structure of the material of the parts to be joined
- B29C66/721—Fibre-reinforced materials
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C66/00—General aspects of processes or apparatus for joining preformed parts
- B29C66/80—General aspects of machine operations or constructions and parts thereof
- B29C66/84—Specific machine types or machines suitable for specific applications
- B29C66/863—Robotised, e.g. mounted on a robot arm
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C66/00—General aspects of processes or apparatus for joining preformed parts
- B29C66/90—Measuring or controlling the joining process
- B29C66/91—Measuring or controlling the joining process by measuring or controlling the temperature, the heat or the thermal flux
- B29C66/912—Measuring or controlling the joining process by measuring or controlling the temperature, the heat or the thermal flux by measuring the temperature, the heat or the thermal flux
- B29C66/9131—Measuring or controlling the joining process by measuring or controlling the temperature, the heat or the thermal flux by measuring the temperature, the heat or the thermal flux by measuring the heat or the thermal flux, i.e. the heat flux
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29K—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES B29B, B29C OR B29D, RELATING TO MOULDING MATERIALS OR TO MATERIALS FOR MOULDS, REINFORCEMENTS, FILLERS OR PREFORMED PARTS, e.g. INSERTS
- B29K2105/00—Condition, form or state of moulded material or of the material to be shaped
- B29K2105/06—Condition, form or state of moulded material or of the material to be shaped containing reinforcements, fillers or inserts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29K—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES B29B, B29C OR B29D, RELATING TO MOULDING MATERIALS OR TO MATERIALS FOR MOULDS, REINFORCEMENTS, FILLERS OR PREFORMED PARTS, e.g. INSERTS
- B29K2307/00—Use of elements other than metals as reinforcement
- B29K2307/04—Carbon
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29L—INDEXING SCHEME ASSOCIATED WITH SUBCLASS B29C, RELATING TO PARTICULAR ARTICLES
- B29L2031/00—Other particular articles
- B29L2031/30—Vehicles, e.g. ships or aircraft, or body parts thereof
- B29L2031/3076—Aircrafts
- B29L2031/3082—Fuselages
Definitions
- the invention relates to a joining tool, a joining device and a joining method with the features in the preamble of the main method and device claims.
- the EP 2 388 194 A2 and EP 2 596 904 A1 show a robot-guided joining tool and a joining device with several industrial robots for the automated joining of stringers to an aircraft skin.
- the joining tool has a gripper, guide and pressure rollers and a heating device, whereby the gripper first reaches into the front opening of the profiled stringer and releases the stringer after it has been placed on the aircraft skin.
- the industrial robot then moves the joining tool continuously along the stringer, whereby it rolls on the stringer with the rotating guide and pressure rollers.
- the DE 10 2007 028 581 A shows a method and a device for joining CFRP roof modules to a metallic roof frame of a vehicle using a robot-guided holding device.
- This has a base plate with suction pads that can be raised and lowered and with unheated spacer elements, which, as counterholders, reproduce the contour of the three-dimensionally curved roof module and are each moved in a controlled manner so that their contact surfaces against which the roof module rests will come, define a three-dimensional curved surface that corresponds to the surface of the roof module.
- the joining area is heated in areas using movable spot inductors by generating an eddy current in the metallic roof frame.
- the spot inductors are moved until they are at a defined coupling distance from the surface of the roof module.
- the DE 10 2011 114 015 A1 relates to a robot end effector for handling fiber cuts and fixing them to another fiber cut using a binder material.
- Suction pads are arranged stationary on a support plate of the end effector.
- heated pressure stamps are movably arranged, which can be adjusted along the pressure direction between a parking position and an operating position by means of a pressure actuator.
- the pressure stamps In the park position, the pressure stamps are retracted, so that a fiber blank can be gripped using the suction grippers without the pressure stamps coming into engagement with the fiber blank.
- the pressure stamps come into engagement with the gripped fiber blank and press it onto a base or another fiber blank and heat it.
- the EP 2 596 904 shows a joining tool and a method for roll joining long profile bodies to components.
- several robots hold the profile body together, which is held floating above the component at one end during joining and is placed on the component at the other end and is then rolled onto the component with the joining tool and pressed under heating.
- the claimed joining technology ie the joining tool, the joining device and the joining process, has advantages over the prior art in terms of positioning accuracy, process reliability and quality.
- the flexibility of the joining technology is also improved.
- the elongated component in particular a stringer, can be positioned, aligned and joined better and more precisely relative to the flexible workpiece, in particular a surface structure or a skin.
- the component can either be applied to the workpiece completely and in one go or gradually and with a rolling-like movement.
- Joining can take place locally at several discrete and spaced joining points along the component simultaneously or one after the other.
- the component area gripped with the joining tool can be pressed onto the workpiece at the joining point for a predetermined duration and with a defined force and heat supply.
- the pressing and heat supply are stationary.
- the joint connection, in particular an adhesive connection can thereby be created with exact and reproducible parameters.
- the joining process and the quality of the joining connection are better and more controlled than with a rolling joining tool.
- the number, location and size of the joining points can be freely selected, which means that the joining process is flexible and can be adapted to any components and workpieces and their requirements.
- the distance between the discrete and point-like joints can also be selected. If necessary, a larger joining area can be formed by concentrating and closely spaced joints.
- the joining process with the discrete and spaced joints is a type of tacking or tacking.
- the component is gripped on its top side with the joining tool and pressed against the workpiece underneath.
- the joining tool can take the component with it Hold it from above with a lifting gripper, especially a suction gripper, release it after the local joint connection has been formed and reach around to the next joint point.
- a captive device prevents the component from falling if the lifting gripper fails.
- the joining tool grips a component area that is short in length and presses it onto the workpiece at a narrowly defined joint. This is favorable for joining components and workpieces that have a contour that varies over the length, in particular a curved course, local projections, curvatures or the like.
- the pressing and the heat are applied over a flat area via a pressure surface that is adapted to the contour of the contacted component area.
- the printing surface can be heated in a controlled manner so that the amount of heat applied to the joint can be precisely controlled.
- the introduction of force and heat is distributed over a defined area, with an adhesive point of a certain size and strength being formed at the local joint.
- joints on both sides can be formed at the same time.
- the joining tool can guide the component when gripping with a positioning tool, in particular center it and, if necessary, correct any shape deviations of the flexible component.
- the joining force can be controlled and, if necessary, regulated using a sensor device carried along. Furthermore, the relative position to the component can be detected.
- An external measuring device can be used for precise measurement and positioning of the component(s) on the workpiece and for possible position correction of the programmed industrial robots and their joining tools.
- joining preferably material joining, by gluing, welding or the like of the component to the workpiece can take place in the assumed joining and contact position of the component to the workpiece.
- the joining process can take place simultaneously at several joining points spread over the length of the component using several industrial robots and their joining tools. This shortens and improves the joining process.
- the claimed joining technology is possible for components of any length, with the quality advantage of the invention having a particularly strong effect here.
- the invention relates to a joining tool (7), a joining device (2) equipped therewith and a joining method for components (9) on workpieces (8).
- FIG. 1 and 2 show a joining device (2) and a mounting station (1).
- the joining device (2) has several programmable industrial robots (3-6) with joining tools (7).
- a component feeder (11) and a workpiece carrier (10) can be present.
- an external measuring device (12) can be present for the joining process, which preferably measures without contact, in particular optically, and is designed, for example, as a laser tracker.
- the joining device (2) can also have a sensor device (20).
- the joining device (2) is used for precisely joining elongated components (9) to flexible workpieces (8).
- the components (9) can have a stiffening function and are preferably so-called stringers. These are designed as elongated profiles, which, for example, have an omega shape in cross section Figures 5 to 7 or have a T-shape (not shown).
- the components (9) or stringers can have a straight or curved extension and a corresponding longitudinal axis (35).
- the profiles (9) have a central raised area and side flange surfaces for joining.
- the raised area can, for example, be a roof-like profile curvature in the Omega profile or an upright web in the T-profile.
- the contact and joining surface is located on the underside of the flanges.
- the components (9), in particular stringers can consist of suitable materials, for example metal or plastic or composite materials. These can be materials that form a bond when heated, for example melting and sticking or welding.
- the flexible workpiece (8) is preferably a flexible surface structure that can be used in aircraft construction, vehicle construction or in other areas.
- it can form the skin (so-called skin) or a component of the skin of an aircraft part, e.g. the aircraft fuselage, a wing or the like.
- the workpiece (8) for example, has a thin-walled and multi-layer design and is designed as a composite part, in particular as a CFRP part.
- the workpiece layers can have a structure reinforced by fibers or the like and can be soaked with a liquid or pasty binder that the workpiece layers are then intimately connected to one another in a curing process or the like.
- the binder can in particular be a thermosetting synthetic resin.
- the component (9) and the workpiece (8) form a fusion or adhesive bond with each other by applying heat.
- one or both partners (8,9) or a possible intermediate layer can melt.
- the workpiece (8) preferably has a shell shape and is held, shaped and supported by a workpiece carrier (10) for the joining process.
- the workpiece carrier (10) can be part of the joining device (2) and be part of its scope of delivery.
- the workpiece carrier (10) has a shell-shaped workpiece holder (38), which determines the shape of the workpiece (8).
- the workpiece holder (38) is preferably concave and points according to Figure 1 and 2 with their opening facing upwards.
- the shell shape of the workpiece holder (38) and the workpiece (8) can be rounded.
- the inside and outside of the workpiece (8) can be smooth.
- the workpiece (8) can be according to Figure 1 and 2 have a constant or changing shape in space in its longitudinal extent along the x-axis shown, for example in the form of a bulge or taper.
- the component (9) or the stringer follows this change in shape.
- the flexible workpiece (8) can have a flat and mat-like shape in the starting position, whereby it receives the shell shape desired for the final state in the workpiece holder (38).
- the workpiece carrier (10) can have a stationary or non-stationary frame (37), for example the base frame shown with the workpiece holder (38) arranged thereon.
- a non-stationary frame (37), in particular a base frame, can be moved through the various stations of a production plant by a single- or multi-axially movable conveyor.
- one or more elongated components (9), in particular stringers, are joined to the wide surface, in particular the inner surface, of the workpiece (8).
- the components (9) extend along the straight or curved surface of the workpiece (8).
- the component feeder (11) has a stationary or non-stationary magazine (39), in particular a component rack, for several components (9) and a feeder (40).
- the feed device (40) lifts the magazine (39) from a lower loading position (41) on a conveyor and brings it into an upper ready position (42) above the workpiece carrier (10) suitable for transfer.
- the feed device (40) can be designed, for example, as a lifting gripper.
- the one or more components (9) are each positioned and aligned relative to the workpiece (8) held ready and then joined.
- the joining process is preferably a material joining, in particular gluing or welding.
- heat is introduced into the component (9) and/or the workpiece (8) locally and under contact pressure over a defined contact time during the joining process.
- cold joining can also be carried out, using an adhesive or another suitable adhesive or binder.
- the joining device (2) has two or more industrial robots (3-6), which grip a component (9) together with their joining tools (7) and attach it to the workpiece (8). put.
- industrial robots 3,4 arranged in a row and at a distance. Their number can also be arbitrarily larger, for example three, four or more.
- Figure 1 , 2 and 4 show a joining device (2) with four industrial robots (3-6).
- two such joining devices (3) and row arrangements of industrial robots (3-6) are arranged and aligned on both sides and along the x-axis of the workpiece carrier (10) and the workpiece (8) held there.
- only one or more than two such joining devices (2) can be present.
- the industrial robots (3-6) are multi-axis and have any number and combination of rotary and/or translational robot axes. In the preferred embodiments shown, they are designed as articulated arm robots or articulated arm robots with rotary robot axes. For example, you have five or six rotary robot axes.
- the industrial robots (3-6) have, for example, a base (14) with a rotatable base and two robot arms (15) which can be pivoted to the base (14) and are connected to one another, as well as an output member (13), which can be used, for example, as a robot hand with two or three rotary Axes is formed and carries the joining tool (7).
- the industrial robots (3-6) can have an additional movement axis (16). This can be, for example, a travel axis that extends along the workpiece carrier (10) or the said x-axis.
- the industrial robots (3-6) are preferably arranged standing. They can be arranged together with their additional movement axis (16) on a substructure (17) on one of the two workpiece carriers (10) in a raised position and above the workpiece (8).
- a portal spanning the workpiece carrier (10) and the received workpiece (8) with one or more suspended industrial robots can also be provided.
- the provision position (42) for the magazine (39) and the components (9) or stringers contained therein are located in the working area of the industrial robots (3-6) of a joining device (2).
- the lined up industrial robots (3-6) can use their joining tools (7) to remove a component (9) and feed it to the workpiece (8).
- Figure 5-7 show a preferred embodiment of the joining tool (7).
- Figure 6 and 7 show the side and front view of the joining tool (7) according to arrows VI and VII from the perspective view of Figure 5 .
- the joining tool (7) has a frame (19) with a connection (18) for connection to the output member (13) of an industrial robot (3-6).
- An automatic change-over clutch can be arranged between the connection (18) and the output member (13).
- the joining tool (7) also has a gripping tool (25), a counterholder (29) and a positioning tool (23) for a component (9).
- a captive device (24) can be present, which prevents the component (9) from detaching from the joining tool (7), in particular from falling, if the gripping tool (25) fails.
- the aforementioned components (23,24,25,29) are also arranged on the frame (19). In Figures 5 to 7 For the sake of clarity, only parts of the frame (19) are shown.
- the gripping tool (25) engages the top side (30) of the component (9).
- the top side of the component (30) lies opposite the joining side of the component (9) and the contact and joining surfaces arranged, for example, on the underside of the component flanges on both sides.
- the component (9) and the joining tool (7) have a longitudinal direction or a central longitudinal axis (35). In the joining position it runs along the x-axis.
- the counterholder (29) is arranged in the longitudinal direction (35) next to the gripping tool (25) and in close proximity to it.
- the positioning tool (23) is also arranged in the longitudinal direction (35) next to the gripping tool (25) in close proximity.
- the gripping tool (25) is located between the counterholder (29) and the positioning tool (23).
- the gripping tool (25) can be arranged on both sides of the counterholder (29).
- the gripping tool (25) is designed as a controllable lifting gripper (26), which engages the top side of the component (30) and holds the component (9) from above or on the top side (30) and thereby pulls or pulls it against the counter-holder (29). .creates.
- the lifting gripper (26) is designed as a suction gripper. It has several suction elements (27, 28) which are arranged one behind the other in the longitudinal direction (35). The suction elements (27, 28) can also be located on both sides of the longitudinal axis (35) and each engage a component flange.
- the suction elements (27, 28) are located between the counterholder (29) and the positioning tool (23).
- the counterholder (29) can be arranged between the suction elements (27, 28).
- the one suction element (27) adjacent to, for example, the counterholder (29) can have a fixed arrangement on the frame (19). It also has a fixed location relative to the counter-holder (29), so that the sucked-in component (9) or the respective component flange is pulled and placed with the top (30) against the counter-holder (29).
- the other suction element (28), which is spaced apart in the longitudinal direction (35), can be arranged to be movable laterally or transversely to the longitudinal axis (35), in particular floating on the frame (19).
- the lifting gripper or suction gripper (26) is controllable and can be connected to the aforementioned control.
- the supply of operating resources, in particular compressed air, electrical signal or power current or the like, to the lifting or suction gripper (26) can be done via appropriate lines from the industrial robot (3-6), if necessary via an interchangeable clutch, or by means of a separate external one Feeding takes place.
- the positioning tool (23) ensures the exact positioning of the component (9) relative to the joining tool (7) and transversely to the longitudinal axis (35). This is, for example, the one in Figure 5 y-axis shown, the longitudinal axis (35) extending in the direction of the x-axis.
- the positioning tool (23) can also be controlled and is connected to said control. It can be opened and closed.
- the positioning tool (23) is designed as a parallel clamp with two clamping jaws, which engage from above on both sides of the raised area (omega curvature or T-bar) of the component (9) and have contact surfaces with a shape adapted to the component contour.
- the positioning tool (23) centers the component (9) to be gripped to the central longitudinal axis (35) of the joining tool (7).
- the component (9) is initially sucked in only with the transversely movable suction element(s) (28).
- the positioning tool (23) is then activated, which centers the component (9) to the longitudinal axis (35), with the suction element or elements (28) possibly moving laterally or following.
- the fixed suction element or elements (27) are then switched on, with the centered component (9) being firmly gripped and fixed to the joining tool (7).
- the counterholder (29) is heated and also acts on the top side of the component (30) and preferably on both component flanges.
- the counterholder (29) is pressure-resistant and rigid. It is used to press the component (9), in particular the component flanges to which it is applied, onto the workpiece (8).
- the counterholder (29) also serves to introduce the energy required for the joining process.
- this is thermal energy, which is introduced, for example, by contacting heat conduction from the counterholder (29) into the adjacent component area and further to the underlying contact and joining surface(s) to the component (9).
- thermal energy which is introduced, for example, by contacting heat conduction from the counterholder (29) into the adjacent component area and further to the underlying contact and joining surface(s) to the component (9).
- remote heating with contactless heat transfer is possible.
- the amount of energy and heat can be controlled and leads to plasticization, in particular melting, of the component (9) and/or the workpiece (8) in the contact and joining area.
- a plasticizable, in particular fusible, intermediate layer can be introduced between the parts (8, 9).
- the aforementioned joint (36) is located in the force and heat introduction area of the counterholder (29) on the component (9) and workpiece (8).
- the counterholder (29) is designed as a pressure stamp (31) which carries a heated print head (32) with a pressure surface (33) with which it contacts and acts on the component (9).
- the pressure stamp (31) is, for example, rigidly designed and arranged. It can have a yoke-like shape. It can carry one or more, for example two, print heads (32). In the preferred embodiment shown, there are two print heads (32), each of which is intended for a component flange.
- the pressure surfaces (33) can have any cross-sectional design. They are preferably circular or oval.
- the pressure surface (33) is adapted to the contour of the contacted component area. For example, it has a correspondingly flat shape for the component flanges that are flat on the top (30). If the component (9), in particular the component flanges, on the Top side (30) should have a profiling with projections and/or depressions, the printing surface (33) is correspondingly, in particular complementary, contoured and profiled.
- the print head (32) is designed as a controllable heating element or has an integrated controllable heating element.
- the heating element can generate heat in any suitable manner, which is transferred to the component (9) and/or workpiece (8) with or without contact. It is designed, for example, as an electrical heating element.
- the heating element which may be present multiple times, is part of a heating device (34), the other components of which are arranged on the joining tool (7) or possibly elsewhere, in particular on the associated industrial robot (3-6).
- a common heating device (34) can also be provided for several joining tools (7).
- the heating device (34) has a suitable energy supply and a control as well as a sensor system for measuring the temperature and/or the amount of heat.
- the heating device (34) can be controlled and is also connected to said control.
- the amount of heat introduced at the joint (36) can be controlled or, if necessary, regulated.
- the captive device (24) can be arranged at any suitable location on the joining tool (7). It is preferably combined with the positioning tool (23) or arranged at a close distance next to it.
- the joining tool (7) has a narrow arrangement of components in the longitudinal direction (35) and a compact design.
- the captive device (24) is designed, for example, as a controllable undergrip clamp, the clamping arm of which grips under the component (9) in the closed position and is pivoted away into a rest position in order to advance and join the gripped component (9).
- the joining of a component (9) to a workpiece (8) can take place in various ways.
- the two or more industrial robots (3-6) can align the jointly gripped component (9) parallel or equidistant to the workpiece (8) before joining and then press it together and simultaneously onto the workpiece (8) for joining and heat at the joints (36).
- the number of joining points (36) corresponds to the number of industrial robots (3-6) and joining tools (7). If a larger number of joining points (36) is required, one or more industrial robots (3-6) can open their joining tool (7) after completion of the first joining process, detach it from the component (9) and transport it to another component location, grab it there and Press again and heat.
- the offset movement of the joining tool (7) along the longitudinal direction (35) of the component (9) can be effected by means of a robot axis or by means of the travel axis (16).
- the joining can be carried out by feeding, pressing and heating the gripped component (9) in a rolling-like manner.
- the industrial robot (3) can grip the component (9) at one end with its joining tool (7), bring it to the workpiece (8) and press and heat it to form an end-side joining point (36).
- the other industrial robot (4) uses its joining tool (7) to hold the other end region of the workpiece (9) in a floating position that is distanced from the workpiece (8).
- the industrial robot (3) releases the component (9), reaches around and grasps the component at another point that is still distanced from the workpiece (8) and joins it to form the next joint (36). .
- This process can be repeated several times, with the other industrial robot (4) touching the component (9) step by step if necessary the workpiece (8) approaches.
- the rolling-type stitching joining process can also be carried out using a larger number of industrial robots (3-6).
- Figure 4 be made.
- the component (9) should be positioned exactly on the workpiece (8).
- the measuring device (12) and the sensor device (20) are connected to said control.
- the external measuring device (12) is, for example, according to Figure 1 and 2 centrally and stationarily arranged. It measures the position of the components (9) and possibly also the joining tools (7), in particular their positioning tools (23) in space and relative to the workpiece (8). Any positioning and/or orientation errors of an industrial robot (3-6) and its joining tool (7) can be detected and corrected via the control. The component (9) can thereby be gripped in the predetermined target position with the joining tool (7) and subsequently delivered and pressed onto the workpiece (8).
- the industrial robot (3-6) presses the counterholder (29) of the joining tool (7) and the gripped component (9) onto the workpiece (8) with a defined, in particular controllable or adjustable force.
- the sensor device (20) carried along serves to control and, if necessary, regulate the joining process.
- the sensor device (20) carried can have one or more sensors (21, 22).
- a sensor can be a sensor (21) that absorbs mechanical loads. be, with which the pressing force of the industrial robot (3-6) acting during joining can be recorded in one or more axes, preferably in all six spatial axes.
- the sensor (21) can be designed, for example, as a 6D force sensor or as a force-torque system. It is assigned to the joining tool (7) and can be located at a suitable point in the force flow.
- connection (18) is arranged between the connection (18) and the output member (13) or the interchangeable clutch.
- a sensor (21) can be integrated into the joining tool (7).
- Another sensor (22) can be used to detect the position of the component (9) and/or the joining tool (7). It is present individually or in multiples and is arranged, for example, on the frame (19) and in axial proximity to the counterholder (29) and at a distance floating above the gripped component (9). It has a defined position relative to the counterholder (29) and preferably detects the component (9) and/or the workpiece (8) without contact, in particular optically.
- It can, for example, be designed as a distance sensor that measures the distance to the component (9) optically using a laser beam or in another way, for example inductively or capacitively.
- it can be designed as an edge-sensing sensor, which is arranged on the edge of the joining tool (7) and is directed towards the front edge of the component (9) and possibly the workpiece (8).
- Such a sensor (22) can be designed, for example, as a laser sensor.
- the position sensor (22) can in particular detect the free end of the component (9) for the precise formation of the first end-side joint (36). On the other hand, it can also detect the edge or the axial end of the workpiece (8) in order to produce the correct axial relative position of the component (9) and the workpiece (8) for joining.
- Figure 3 shows the industrial robot (3) with the end of the component gripped in exactly the right position.
- the absolutely precisely measured joining device (2) can be adapted to the actual position and the actual orientation of the workpiece (8) and the gripped component (9) and adjusted in the event of deviations. This enables precise positioning, alignment and delivery of the component (9) to the workpiece (8).
- the joining device (2) can have other single-axis or multi-axis movable actuators or handling devices instead of the preferred industrial robots (3-6) shown.
- the joining connection can be carried out in a different physical way and using a different form of energy. For example, you can work with electric or electromagnetic fields, in particular alternating fields, with radiant energy or the like.
- the joining device and the joining method can also be used and adapted in other technical areas. This can be, for example, the construction of vehicle bodies or vehicle bodies, especially truck bodies.
- the component (9) and the workpiece (8) can have one have a different shape and consist of different materials. Special prepared joints, such as local platforms, can be formed on the component (9) and/or on the workpiece (8).
- the joining device (2) can pre-prepare the joining points provided on the workpiece (8) and/or component (9), for example by applying heat and/or applying an adhesive or binding agent or in another way.
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Description
Die Erfindung betrifft ein Fügewerkzeug, eine Fügeeinrichtung und ein Fügeverfahren mit den Merkmalen im Oberbegriff der Verfahrens- und Vorrichtungshauptansprüche.The invention relates to a joining tool, a joining device and a joining method with the features in the preamble of the main method and device claims.
Aus der Praxis ist es beim Flugzeugbau bekannt, Stringer manuell an flexiblen Flächenstrukturen, insbesondere an flexiblen Häuten von Flugzeugteilen zu montieren.It is known from practice in aircraft construction to manually mount stringers on flexible surface structures, in particular on flexible skins of aircraft parts.
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Es ist Aufgabe der vorliegenden Erfindung, die Fügetechnik weiter zu verbessern.It is the object of the present invention to further improve the joining technology.
Die Erfindung löst diese Aufgabe mit den Merkmalen in den Verfahrens- und Vorrichtungshauptansprüchen.The invention solves this problem with the features in the main method and device claims.
Die beanspruchte Fügetechnik, d.h. das Fügewerkzeug, die Fügeeinrichtung und das Fügeverfahren, hat Vorteile gegenüber dem Stand der Technik hinsichtlich Positioniergenauigkeit, Prozesssicherheit und Qualität. Auch die Flexibilität der Fügetechnik wird verbessert. Zudem ergeben sich Verbesserungen hinsichtlich der Schnelligkeit und Wirtschaftlichkeit der Fügetechnik.The claimed joining technology, ie the joining tool, the joining device and the joining process, has advantages over the prior art in terms of positioning accuracy, process reliability and quality. The flexibility of the joining technology is also improved. There are also improvements in terms of Speed and cost-effectiveness of the joining technology.
Das längliche Bauteil, insbesondere ein Stringer, kann besser und genauer gegenüber dem flexiblen Werkstück, insbesondere einer Flächenstruktur oder einem Skin, positioniert, ausgerichtet und gefügt werden. Das Bauteil kann wahlweise komplett und in einem Zug oder allmählich und mit einer abwälzartigen Bewegung an das Werkstück angelegt werden.The elongated component, in particular a stringer, can be positioned, aligned and joined better and more precisely relative to the flexible workpiece, in particular a surface structure or a skin. The component can either be applied to the workpiece completely and in one go or gradually and with a rolling-like movement.
Das Fügen kann lokal an mehreren diskreten und beabstandeten Fügestellen entlang des Bauteils gleichzeitig oder nacheinander erfolgen. Hierbei kann der jeweils mit dem Fügewerkzeug gegriffene Bauteilbereich an der Fügestelle für eine vorgegebene Dauer sowie mit einer definierten Kraft und Wärmezufuhr an das Werkstück gepresst werden. Das Anpressen und die Wärmezufuhr erfolgen stationär. Die Fügeverbindung, insbesondere Klebeverbindung, kann dadurch mit exakten und reproduzierbaren Parametern geschaffen werden. Der Fügeprozess und die Qualität der Fügeverbindung sind besser und kontrollierter als mit einem abrollenden Fügewerkzeug.Joining can take place locally at several discrete and spaced joining points along the component simultaneously or one after the other. Here, the component area gripped with the joining tool can be pressed onto the workpiece at the joining point for a predetermined duration and with a defined force and heat supply. The pressing and heat supply are stationary. The joint connection, in particular an adhesive connection, can thereby be created with exact and reproducible parameters. The joining process and the quality of the joining connection are better and more controlled than with a rolling joining tool.
Zahl, Ort und Größe der Fügestellen sind frei wählbar, wodurch der Fügeprozess flexibel ist und an beliebige Bauteile und Werkstücke sowie deren Erfordernisse angepasst werden kann. Auch der Abstand der diskreten und punktartigen Fügestellen ist wählbar. Durch eine Konzentration und eng benachbarte Fügestellen kann bedarfsweise ein größerer Fügebereich gebildet werden. Der Fügeprozess mit den diskreten und beabstandeten Fügestellen ist eine Art Heftfügen oder Heftkleben.The number, location and size of the joining points can be freely selected, which means that the joining process is flexible and can be adapted to any components and workpieces and their requirements. The distance between the discrete and point-like joints can also be selected. If necessary, a larger joining area can be formed by concentrating and closely spaced joints. The joining process with the discrete and spaced joints is a type of tacking or tacking.
Das Bauteil wird mit dem Fügewerkzeug an seiner Oberseite gegriffen und gegen das darunter liegende Werkstück gedrückt. Das Fügewerkzeug kann das Bauteil mit einem Hubgreifer, insbesondere Sauggreifer, von oben halten, nach Bildung der lokalen Fügeverbindung loslassen und zur nächsten Fügestelle umgreifen. Eine Verliersicherung verhindert ein Herunterfallen des Bauteils bei einem evtl. Ausfall des Hubgreifers.The component is gripped on its top side with the joining tool and pressed against the workpiece underneath. The joining tool can take the component with it Hold it from above with a lifting gripper, especially a suction gripper, release it after the local joint connection has been formed and reach around to the next joint point. A captive device prevents the component from falling if the lifting gripper fails.
Das Fügewerkzeug greift einen über die Länge kurzen Bauteilbereich und drückt diesen an einer eng begrenzten Fügestelle an das Werkstück. Dies ist günstig zum Fügen von Bauteilen und Werkstücken, die eine über die Länge veränderliche Kontour, insbesondere einen gekrümmten Verlauf, lokalen Vorsprünge, Wölbungen oder dgl. haben.The joining tool grips a component area that is short in length and presses it onto the workpiece at a narrowly defined joint. This is favorable for joining components and workpieces that have a contour that varies over the length, in particular a curved course, local projections, curvatures or the like.
Das Andrücken und die Wärmeeinbringung erfolgen flächig über eine Druckfläche, die an die Kontur des kontaktierten Bauteilbereichs angepasst ist. Die Druckfläche kann kontrolliert beheizt werden, so dass die an der Fügestelle eingebrachte Wärmemenge exakt gesteuert werden kann. Die Kraft- und Wärmeeinleitung verteilen sich über eine definierte Fläche, wobei an der lokalen Fügestelle ein Klebepunkt mit bestimmter Größe und Festigkeit gebildet wird. Bei Omega- oder T-förmigen Bauteilen mit beidseitigen, durchgehenden oder lokalen Flanschen können beidseitige Fügestellen gleichzeitig gebildet werden.The pressing and the heat are applied over a flat area via a pressure surface that is adapted to the contour of the contacted component area. The printing surface can be heated in a controlled manner so that the amount of heat applied to the joint can be precisely controlled. The introduction of force and heat is distributed over a defined area, with an adhesive point of a certain size and strength being formed at the local joint. For omega or T-shaped components with double-sided, continuous or local flanges, joints on both sides can be formed at the same time.
Das Fügewerkzeug kann das Bauteil beim Greifen mit einem Positionierwerkzeug führen, insbesondere zentrieren und etwaige Formabweichungen des biegeelastischen Bauteils ggf. korrigieren. Mittels einer mitgeführten Sensoreinrichtung kann die Fügekraft gesteuert und ggf. geregelt werden. Ferner kann die Relativposition zum Bauteil detektiert werden. Eine externe Messeinrichtung kann zum exakten Einmessen und Positionieren des oder der Bauteile am Werkstück und zur evtl. Positionskorrektur der programmierten Industrieroboter und ihrer Fügewerkzeuge benutzt werden.The joining tool can guide the component when gripping with a positioning tool, in particular center it and, if necessary, correct any shape deviations of the flexible component. The joining force can be controlled and, if necessary, regulated using a sensor device carried along. Furthermore, the relative position to the component can be detected. An external measuring device can be used for precise measurement and positioning of the component(s) on the workpiece and for possible position correction of the programmed industrial robots and their joining tools.
Mit der erfindungsgemäßen Fügetechnik kann das Fügen, vorzugsweise ein stoffliches Fügen durch Kleben, Schweißen oder dgl. des Bauteils am Werkstück in der eingenommenen Füge- und Kontaktstellung des Bauteils am Werkstück erfolgen. Der Fügeprozess kann mittels mehrerer Industrieroboter und ihrer Fügewerkzeuge an mehreren Fügestellen über die Bauteilelänge verteilt gleichzeitig stattfinden. Dies verkürzt und verbessert den Fügeprozess. Die beanspruchte Fügetechnik ist für Bauteile mit beliebiger Länge möglich, wobei sich der Qualitätsvorsprung der Erfindung hier besonders stark auswirkt.With the joining technology according to the invention, joining, preferably material joining, by gluing, welding or the like of the component to the workpiece can take place in the assumed joining and contact position of the component to the workpiece. The joining process can take place simultaneously at several joining points spread over the length of the component using several industrial robots and their joining tools. This shortens and improves the joining process. The claimed joining technology is possible for components of any length, with the quality advantage of the invention having a particularly strong effect here.
In den Unteransprüchen sind weitere vorteilhafte Ausgestaltungen der Erfindung angegeben.Further advantageous embodiments of the invention are specified in the subclaims.
Die Erfindung ist in den Zeichnungen beispielhaft und schematisch dargestellt. Im einzelnen zeigen:
- Figur 1: eine
- Montierstation mit einer Fügeeinrichtung in einer perspektivischen Ansicht,
- Figur 2: eine
- Stirnansicht der Montierstation gemäß Pfeil II von
,Figur 1 Figur 3 und 4:- Varianten einer Fügeeinrichtung mit mehreren Industrierobotern und Fügewerkzeugen in perspektivischer Ansicht und
Figur 5 bis 7:- ein Fügewerkzeug in verschiedenen Ansichten.
- Figure 1: one
- Assembly station with a joining device in a perspective view,
- Figure 2: one
- Front view of the mounting station according to arrow II of
Figure 1 , - Figures 3 and 4:
- Variants of a joining device with several industrial robots and joining tools in a perspective view and
- Figures 5 to 7:
- a joining tool in different views.
Die Erfindung betrifft ein Fügewerkzeug (7), eine damit ausgerüstete Fügeeinrichtung (2) und ein Fügeverfahren für Bauteile (9) an Werkstücken (8).The invention relates to a joining tool (7), a joining device (2) equipped therewith and a joining method for components (9) on workpieces (8).
Die Fügeeinrichtung (2) dient zum passgenauen Fügen von länglichen Bauteilen (9) an flexiblen Werkstücken (8). Die Bauteile (9) können eine versteifendende Funktion haben und sind bevorzugt sog. Stringer. Diese sind als lang gestreckte Profile ausgebildet, die z.B. im Querschnitt eine Omega-Form gemäß
Das flexible Werkstück (8) ist bevorzugt eine flexible Flächenstruktur, die im Flugzeugbau, im Fahrzeugbau oder in anderen Bereichen eingesetzt werden kann. Es kann z.B. die Haut (sog. Skin) oder einen Bestandteil der Haut eines Flugzeugteils, z.B. des Flugzeugrumpfes, eines Flügels oder dgl. bilden.The flexible workpiece (8) is preferably a flexible surface structure that can be used in aircraft construction, vehicle construction or in other areas. For example, it can form the skin (so-called skin) or a component of the skin of an aircraft part, e.g. the aircraft fuselage, a wing or the like.
Das Werkstück (8) hat z.B. eine dünnwandige und mehrlagige Ausbildung und ist als Verbundteil, insbesondere als CFK-Teil ausgebildet. Die Werkstücklagen können eine durch Fasern oder dgl. verstärkte Struktur haben und mit einem flüssigen oder pastösen Bindemittel getränkt sein, über das die Werkstücklagen in einem Aushärteprozess oder dgl. dann auch miteinander innig verbunden werden. Das Bindemittel kann insbesondere ein warmaushärtendes Kunstharz sein.The workpiece (8), for example, has a thin-walled and multi-layer design and is designed as a composite part, in particular as a CFRP part. The workpiece layers can have a structure reinforced by fibers or the like and can be soaked with a liquid or pasty binder that the workpiece layers are then intimately connected to one another in a curing process or the like. The binder can in particular be a thermosetting synthetic resin.
Beim Fügen gehen das Bauteil (9) und das Werkstück (8) durch Wärmezufuhr eine Schmelz- oder Klebeverbindung miteinander ein. Hierbei können z.B. einer oder beide Partner (8,9) oder eine evtl. Zwischenlage schmelzen.When joining, the component (9) and the workpiece (8) form a fusion or adhesive bond with each other by applying heat. For example, one or both partners (8,9) or a possible intermediate layer can melt.
Das Werkstück (8) hat vorzugsweise eine Schalenform und wird für den Fügevorgang von einem Werkstückträger (10) gehalten, geformt und abgestützt. Der Werkstückträger (10) kann Bestandteil der Fügeeinrichtung (2) sein und zu deren Lieferumfang gehören. Der Werkstückträger (10) weist eine schalenförmige Werkstückaufnahme (38) auf, welche die Form des Werkstücks (8) bestimmt. Die Werkstückaufnahme (38) ist vorzugsweise konkav ausgebildet und weist gemäß
Das Werkstück (8) kann gemäß
Der Werkstückträger (10) kann ein stationäres oder instationäres Gestell (37), z.B. das gezeigte Untergestell mit der darauf angeordneten Werkstückaufnahme (38) aufweisen. Ein instationäres Gestell (37), insbesondere ein Untergestell, kann von einem einachsig oder mehrachsig beweglichen Fördermittel durch die verschiedenen Stationen einer Fertigungsanlage bewegt werden.The workpiece carrier (10) can have a stationary or non-stationary frame (37), for example the base frame shown with the workpiece holder (38) arranged thereon. A non-stationary frame (37), in particular a base frame, can be moved through the various stations of a production plant by a single- or multi-axially movable conveyor.
Gemäß
Für ein oder mehrere Bauteile (9) kann eine in
Beim Fügevorgang werden die ein oder mehreren Bauteile (9) jeweils gegenüber dem bereitgehaltenen Werkstück (8) positioniert und ausgerichtet sowie anschließend gefügt. Der Fügeprozess ist vorzugsweise ein stoffliches Fügen, insbesondere ein Kleben oder Schweißen. In der gezeigten und bevorzugten Ausführungsform wird beim Fügeprozess Wärme lokal und unter Anpressdruck über eine definierte Anpresszeit in das Bauteil (9) und/oder das Werkstück (8) eingebracht. Alternativ kann auch kalt gefügt werden, wobei ein Klebstoff oder ein anderes geeignetes Haft- oder Bindemittel eingesetzt wird.During the joining process, the one or more components (9) are each positioned and aligned relative to the workpiece (8) held ready and then joined. The joining process is preferably a material joining, in particular gluing or welding. In the preferred embodiment shown, heat is introduced into the component (9) and/or the workpiece (8) locally and under contact pressure over a defined contact time during the joining process. Alternatively, cold joining can also be carried out, using an adhesive or another suitable adhesive or binder.
Die Fügeeinrichtung (2) weist zwei oder mehr Industrieroboter (3-6) auf, die mit ihren Fügewerkzeugen (7) ein Bauteil (9) gemeinsam greifen und am Werkstück (8) fügen. Hierbei sind gemäß
In der Montierstation (1) sind zwei solche Fügeeinrichtungen (3) und Reihenanordnungen von Industrierobotern (3-6) beidseits und entlang der x-Achse des Werkstückträgers (10) und des dort aufgenommenen Werkstücks (8) angeordnet und ausgerichtet. In anderen Ausführungsformen können nur eine oder mehr als zwei solcher Fügeeinrichtungen (2) vorhanden sein.In the assembly station (1), two such joining devices (3) and row arrangements of industrial robots (3-6) are arranged and aligned on both sides and along the x-axis of the workpiece carrier (10) and the workpiece (8) held there. In other embodiments, only one or more than two such joining devices (2) can be present.
Die Industrieroboter (3-6) sind mehrachsig und weisen eine beliebige Zahl und Kombination von rotatorischen und/oder translatorischen Roboterachsen auf. In den gezeigten und bevorzugten Ausführungsformen sind sie als Gelenkarmroboter oder Knickarmroboter mit rotatorischen Roboterachsen ausgebildet. Sie haben z.B. fünf oder sechs rotatorische Roboterachsen. Die Industrieroboter (3-6) besitzen z.B. eine Basis (14) mit einem drehbaren Sockel und zwei schwenkbar mit der Basis (14) und untereinander verbundenen Roboterarmen (15) sowie einem Abtriebsglied (13), das z.B. als Roboterhand mit zwei oder drei rotatorischen Achsen ausgebildet ist und das Fügewerkzeug (7) trägt.The industrial robots (3-6) are multi-axis and have any number and combination of rotary and/or translational robot axes. In the preferred embodiments shown, they are designed as articulated arm robots or articulated arm robots with rotary robot axes. For example, you have five or six rotary robot axes. The industrial robots (3-6) have, for example, a base (14) with a rotatable base and two robot arms (15) which can be pivoted to the base (14) and are connected to one another, as well as an output member (13), which can be used, for example, as a robot hand with two or three rotary Axes is formed and carries the joining tool (7).
Die Industrieroboter (3-6) können eine zusätzliche Bewegungsachse (16) aufweisen. Dies kann z.B. eine Fahrachse sein, die sich entlang des Werkstückträgers (10) bzw. der besagten x-Achse erstreckt. Die Industrieroboter (3-6) sind bevorzugt stehend angeordnet. Sie können zusammen mit ihrer zusätzlichen Bewegungsachse (16) auf einem Unterbau (17) an einer der beiden des Werkstückträgers (10) in erhabener Position und oberhalb des Werkstücks (8) angeordnet sein. In einer anderen Variante kann auch ein den Werkstückträger (10) und das aufgenommene Werkstück (8) überspannendes Portal mit ein oder mehreren hängend angeordneten Industrierobotern vorgesehen sein.The industrial robots (3-6) can have an additional movement axis (16). This can be, for example, a travel axis that extends along the workpiece carrier (10) or the said x-axis. The industrial robots (3-6) are preferably arranged standing. They can be arranged together with their additional movement axis (16) on a substructure (17) on one of the two workpiece carriers (10) in a raised position and above the workpiece (8). In another Alternatively, a portal spanning the workpiece carrier (10) and the received workpiece (8) with one or more suspended industrial robots can also be provided.
Die Bereitstellungsposition (42) für das Magazin (39) und die darin enthaltenen Bauteile (9) bzw. Stringer befindet sich jeweils im Arbeitsbereich der Industrieroboter (3-6) einer Fügeeinrichtung (2). Die aufgereihten Industrieroboter (3-6) können mit ihren Fügewerkzeugen (7) gemeinsam ein Bauteil (9) dort entnehmen und an das Werkstück (8) zuführen.The provision position (42) for the magazine (39) and the components (9) or stringers contained therein are located in the working area of the industrial robots (3-6) of a joining device (2). The lined up industrial robots (3-6) can use their joining tools (7) to remove a component (9) and feed it to the workpiece (8).
Das Fügewerkzeug (7) weist ein Gestell (19) mit einem Anschluss (18) zur Verbindung mit dem Abtriebsglied (13) eines Industrieroboters (3-6) auf. Zwischen dem Anschluss (18) und dem Abtriebsglied (13) kann eine automatische Wechselkupplung angeordnet sein.The joining tool (7) has a frame (19) with a connection (18) for connection to the output member (13) of an industrial robot (3-6). An automatic change-over clutch can be arranged between the connection (18) and the output member (13).
Das Fügewerkzeug (7) weist ferner ein Greifwerkzeug (25), einen Gegenhalter (29) und ein Positionierwerkzeug (23) für ein Bauteil (9) auf. Zudem kann eine Verliersicherung (24) vorhanden sein, die bei Ausfall des Greifwerkzeugs (25) ein Ablösen des Bauteils (9) vom Fügewerkzeug (7), insbesondere ein Herabfallen, verhindert. Die vorgenannten Komponenten (23,24,25,29) sind ebenfalls am Gestell (19) angeordnet. In
Das Greifwerkzeug (25) greift an der Bauteiloberseite (30) des Bauteils (9) an. Die Bauteiloberseite (30) liegt der Fügeseite des Bauteils (9) und den z.B. an der Unterseite der beidseitigen Bauteilflansche angeordneten Kontakt- und Fügeflächen gegenüber. Das Bauteil (9) und das Fügewerkzeug (7) haben eine Längsrichtung bzw. eine zentrale Längsachse (35). Sie verläuft in Fügeposition entlang der x-Achse.The gripping tool (25) engages the top side (30) of the component (9). The top side of the component (30) lies opposite the joining side of the component (9) and the contact and joining surfaces arranged, for example, on the underside of the component flanges on both sides. The component (9) and the joining tool (7) have a longitudinal direction or a central longitudinal axis (35). In the joining position it runs along the x-axis.
Der Gegenhalter (29) ist in Längsrichtung (35) neben dem Greifwerkzeug (25) und in enger Nachbarschaft hierzu angeordnet. Das Positionierwerkzeug (23) ist ebenfalls in Längsrichtung (35) neben dem Greifwerkzeug (25) in enger Nachbarschaft angeordnet. In der gezeigten und bevorzugten Ausführungsform befindet sich das Greifwerkzeug (25) zwischen dem Gegenhalter (29) und dem Positionierwerkzeug (23). Alternativ kann das Greifwerkzeug (25) beidseits vom Gegenhalter (29) angeordnet sein.The counterholder (29) is arranged in the longitudinal direction (35) next to the gripping tool (25) and in close proximity to it. The positioning tool (23) is also arranged in the longitudinal direction (35) next to the gripping tool (25) in close proximity. In the preferred embodiment shown, the gripping tool (25) is located between the counterholder (29) and the positioning tool (23). Alternatively, the gripping tool (25) can be arranged on both sides of the counterholder (29).
Das Greifwerkzeug (25) ist als steuerbarer Hubgreifer (26) ausgebildet, der an der Bauteiloberseite (30) angreift und das Bauteil (9) von oben her bzw. an der Oberseite (30) hält und dabei gegen den Gegenhalter (29) zieht bzw. anlegt. Der Hubgreifer (26) ist in der bevorzugten Ausführungsform als Sauggreifer ausgebildet. Er weist mehrere Saugelemente (27,28) auf, die in Längsrichtung (35) hintereinander angeordnet sind. Die Saugelemente (27,28) können sich auch beidseits der Längsachse (35) befinden und jeweils an einem Bauteilflansch angreifen.The gripping tool (25) is designed as a controllable lifting gripper (26), which engages the top side of the component (30) and holds the component (9) from above or on the top side (30) and thereby pulls or pulls it against the counter-holder (29). .creates. In the preferred embodiment, the lifting gripper (26) is designed as a suction gripper. It has several suction elements (27, 28) which are arranged one behind the other in the longitudinal direction (35). The suction elements (27, 28) can also be located on both sides of the longitudinal axis (35) and each engage a component flange.
In der gezeigten Ausführungsform befinden sich die Saugelemente (27,28) zwischen dem Gegenhalter (29) und dem Positionierwerkzeug (23). In der vorgenannten Variante kann der Gegenhalter (29) zwischen den Saugelementen (27,28) angeordnet sein.In the embodiment shown, the suction elements (27, 28) are located between the counterholder (29) and the positioning tool (23). In the aforementioned variant, the counterholder (29) can be arranged between the suction elements (27, 28).
Das eine und z.B. dem Gegenhalter (29) benachbarte Saugelement (27) kann eine feste Anordnung am Gestell (19) haben. Es hat dabei auch eine feste örtliche Zuordnung gegenüber dem Gegenhalter (29), so dass das angesaugte Bauteil (9) bzw. der jeweilige Bauteilflansch, mit der Oberseite (30) gegen den Gegenhalter (29) gezogen und angelegt wird. Das andere und in Längsrichtung (35) distanzierte Saugelement (28) kann seitlich bzw. quer zur Längsachse (35) beweglich, insbesondere schwimmend am Gestell (19) angeordnet sein.The one suction element (27) adjacent to, for example, the counterholder (29) can have a fixed arrangement on the frame (19). It also has a fixed location relative to the counter-holder (29), so that the sucked-in component (9) or the respective component flange is pulled and placed with the top (30) against the counter-holder (29). The other suction element (28), which is spaced apart in the longitudinal direction (35), can be arranged to be movable laterally or transversely to the longitudinal axis (35), in particular floating on the frame (19).
Der Hubgreifer bzw. Sauggreifer (26) ist steuerbar und kann mit der vorgenannten Steuerung verbunden werden. Die Zuführung von Betriebsmitteln, insbesondere von Druckluft, elektrischen Signal- oder Leistungsstrom oder dgl. zum Hub- bzw. Sauggreifer (26) kann über entsprechende Leitungen vom Industrieroboter (3-6) aus, ggf. über eine Wechselkupplung, oder mittels einer separaten externen Zuführung erfolgen.The lifting gripper or suction gripper (26) is controllable and can be connected to the aforementioned control. The supply of operating resources, in particular compressed air, electrical signal or power current or the like, to the lifting or suction gripper (26) can be done via appropriate lines from the industrial robot (3-6), if necessary via an interchangeable clutch, or by means of a separate external one Feeding takes place.
Das Positionierwerkzeug (23) sorgt für die exakte Positionierung des Bauteils (9) relativ zum Fügewerkzeug (7) und quer zur Längsachse (35). Dies ist z.B. die in
Das Positionierwerkzeug (23) ist ebenfalls steuerbar sowie mit der besagten Steuerung verbunden. Es kann geöffnet und geschlossen werden. Im gezeigten Ausführungsbeispiel ist das Positionierwerkzeug (23) als Parallelspanner mit zwei Spannbacken ausgebildet, die von oben am erhabenen Bereich (Omega-Wölbung oder T-Steg) des Bauteils (9) beidseits angreifen und Kontaktflächen mit einer an die Bauteilkontur angepassten Formgebung haben. Das Positionierwerkzeug (23) zentriert das zu greifende Bauteil (9) zur zentralen Längsachse (35) des Fügewerkzeugs (7).The positioning tool (23) can also be controlled and is connected to said control. It can be opened and closed. In the exemplary embodiment shown, the positioning tool (23) is designed as a parallel clamp with two clamping jaws, which engage from above on both sides of the raised area (omega curvature or T-bar) of the component (9) and have contact surfaces with a shape adapted to the component contour. The positioning tool (23) centers the component (9) to be gripped to the central longitudinal axis (35) of the joining tool (7).
Das Bauteil (9) wird zunächst nur mit dem oder den quer beweglichen Saugelementen (28) angesaugt. Anschließend wird das Positionierwerkzeug (23) aktiviert, welches das Bauteil (9) zur Längsachse (35) zentriert, wobei das oder die Saugelemente (28) ggf. seitlich ausweichen bzw. folgen. Anschließend werden der oder die festen Saugelemente (27) angeschaltet, wobei das zentrierte Bauteil (9) fest gegriffen und am Fügewerkzeug (7) fixiert wird.The component (9) is initially sucked in only with the transversely movable suction element(s) (28). The positioning tool (23) is then activated, which centers the component (9) to the longitudinal axis (35), with the suction element or elements (28) possibly moving laterally or following. The fixed suction element or elements (27) are then switched on, with the centered component (9) being firmly gripped and fixed to the joining tool (7).
Dieser Ablauf ist besonders vorteilhaft, wenn die Bauteile (9) bzw. Stringer umgekehrt (Öffnung und Bauteilflansche nach oben) im Bauteilmagazin (39) liegen und von unten nach oben ausgehoben werden. Durch das anfängliche Greifen bzw. Ansaugen kann das Bauteil bei einem Schliessen des Positionierwerkzeugs (23) nicht unerwünscht nach oben ausweichen, insbesondere wenn es bei einer Omega-Form schräge Profilwände oder -schenkel hat.This process is particularly advantageous if the components (9) or stringers are inverted (opening and component flanges facing upwards) in the component magazine (39) and are lifted from bottom to top. Due to the initial gripping or suction, the component cannot undesirably move upwards when the positioning tool (23) is closed, especially if it has sloping profile walls or legs in an omega shape.
Bei einem Zentrieren eines "ideal" geraden Bauteils (9) erfolgt ein Positionieren über die Mitte bzw. Längsachse (35), d.h. in der korrekten Lage. Dieser Vorgang erfolgt beim ersten Aufnehmen des Bauteils (9) gleichzeitig an allen Aufnahmepunkten. Ein ggf. "verbogenes" Bauteil (z.B. resultierend aus Bauteilspannungen) wird entsprechend in seine korrekte Form "gebogen".When centering an "ideally" straight component (9), positioning takes place via the center or longitudinal axis (35), i.e. in the correct position. This process takes place simultaneously at all pick-up points when the component (9) is picked up for the first time. A possibly “bent” component (e.g. resulting from component stresses) is “bent” into its correct shape.
Der Gegenhalter (29) ist beheizt und wirkt ebenfalls auf die Bauteiloberseite (30) und bevorzugt auf beide Bauteilflansche ein. Der Gegenhalter (29) ist druckfest und starr ausgebildet. Er dient zum Andrücken des Bauteils (9), insbesondere der beaufschlagten Bauteilflansche, am Werkstück (8). Der Gegenhalter (29) dient außerdem zur Einbringung der für den Fügevorgang erforderlichen Energie.The counterholder (29) is heated and also acts on the top side of the component (30) and preferably on both component flanges. The counterholder (29) is pressure-resistant and rigid. It is used to press the component (9), in particular the component flanges to which it is applied, onto the workpiece (8). The counterholder (29) also serves to introduce the energy required for the joining process.
Dies ist in den gezeigten Ausführungsbeispielen Wärmeenergie, die z.B. durch kontaktierende Wärmeleitung vom Gegenhalter (29) in den anliegenden Bauteilbereich und weiter zu der oder den darunterliegenden Kontakt- und Fügeflächen zum Bauteil (9) eingebracht wird. Alternativ ist eine Remoteheizung mit kontaktloser Wärmeübertragung möglich.In the exemplary embodiments shown, this is thermal energy, which is introduced, for example, by contacting heat conduction from the counterholder (29) into the adjacent component area and further to the underlying contact and joining surface(s) to the component (9). Alternatively, remote heating with contactless heat transfer is possible.
Die Energie- und Wärmemenge ist steuerbar und führt zu einem Plastifizieren, insbesondere Anschmelzen des Bauteils (9) und/oder des Werkstücks (8) im Kontakt- und Fügebereich. In einer Variante kann eine plastifizierbare, insbesondere schmelzbare Zwischenschicht zwischen den Teilen (8,9) eingebracht sein.The amount of energy and heat can be controlled and leads to plasticization, in particular melting, of the component (9) and/or the workpiece (8) in the contact and joining area. In one variant, a plasticizable, in particular fusible, intermediate layer can be introduced between the parts (8, 9).
Die vorgenannte Fügestelle (36) befindet sich im Kraft- und Wärmeeinleitungsbereich des Gegenhalters (29) an Bauteil (9) und Werkstück (8).The aforementioned joint (36) is located in the force and heat introduction area of the counterholder (29) on the component (9) and workpiece (8).
Der Gegenhalter (29) ist als Druckstempel (31) ausgebildet, der einen beheizten Druckkopf (32) mit einer Druckfläche (33) trägt, mit der er das Bauteil (9) flächig kontaktiert und beaufschlagt. Der Druckstempel (31) ist z.B. starr ausgebildet und angeordnet. Er kann eine jochartige Form haben. Er kann einen oder mehrere, z.B. zwei, Druckköpfe (32) tragen. In der gezeigten und bevorzugten Ausführungsform sind zwei Druckköpfe (32) vorhanden, die für jeweils einen Bauteilflansch vorgesehen sind.The counterholder (29) is designed as a pressure stamp (31) which carries a heated print head (32) with a pressure surface (33) with which it contacts and acts on the component (9). The pressure stamp (31) is, for example, rigidly designed and arranged. It can have a yoke-like shape. It can carry one or more, for example two, print heads (32). In the preferred embodiment shown, there are two print heads (32), each of which is intended for a component flange.
Die Druckflächen (33) können eine beliebige Querschnittsgestaltung haben. Vorzugsweise sind sie kreisrund oder oval ausgebildet. Die Druckfläche (33) ist jeweils an die Kontur des kontaktierten Bauteilbereichs angepasst. Sie hat z.B. für die an der Oberseite (30) ebenen Bauteilflansche eine entsprechend ebene Form. Falls das Bauteil (9), insbesondere die Bauteilflansche, an der Oberseite (30) eine Profilierung mit Vorsprüngen und/oder Vertiefungen haben sollten, ist die Druckfläche (33) entsprechend, insbesondere komplementär, konturiert und profiliert.The pressure surfaces (33) can have any cross-sectional design. They are preferably circular or oval. The pressure surface (33) is adapted to the contour of the contacted component area. For example, it has a correspondingly flat shape for the component flanges that are flat on the top (30). If the component (9), in particular the component flanges, on the Top side (30) should have a profiling with projections and/or depressions, the printing surface (33) is correspondingly, in particular complementary, contoured and profiled.
Der Druckkopf (32) ist als steuerbares Heizelement ausgebildet oder weist ein integriertes steuerbares Heizelement auf. Das Heizelement kann in beliebig geeigneter Weise Wärme erzeugen, die mit Kontakt oder berührungslos zum Bauteil (9) und/oder Werkstück (8) übertragen wird. Es ist z.B. als elektrisches Heizelement ausgebildet. Das ggf. mehrfach vorhandene Heizelement ist Bestandteil einer Heizeinrichtung (34), deren weitere Bestandteile am Fügewerkzeug (7) oder ggf. an anderer Stelle, insbesondere am zugeordneten Industrieroboter (3-6) angeordnet sind. Es kann auch eine gemeinsame Heizeinrichtung (34) für mehrere Fügewerkzeuge (7) vorgesehen sein.The print head (32) is designed as a controllable heating element or has an integrated controllable heating element. The heating element can generate heat in any suitable manner, which is transferred to the component (9) and/or workpiece (8) with or without contact. It is designed, for example, as an electrical heating element. The heating element, which may be present multiple times, is part of a heating device (34), the other components of which are arranged on the joining tool (7) or possibly elsewhere, in particular on the associated industrial robot (3-6). A common heating device (34) can also be provided for several joining tools (7).
Die Heizeinrichtung (34) weist eine geeignete Energieversorgung und eine Steuerung sowie eine Sensorik zum Messen der Temperatur und/oder der Wärmemenge auf. Die Heizeinrichtung (34) ist steuerbar und ist ebenfalls mit der besagten Steuerung verbunden. Die an der Fügestelle (36) eingebrachte Wärmemenge kann gesteuert oder ggf. auch geregelt werden.The heating device (34) has a suitable energy supply and a control as well as a sensor system for measuring the temperature and/or the amount of heat. The heating device (34) can be controlled and is also connected to said control. The amount of heat introduced at the joint (36) can be controlled or, if necessary, regulated.
Die Verliersicherung (24) kann an beliebig geeigneter Stelle des Fügewerkzeugs (7) angeordnet sein. Vorzugsweise ist sie mit dem Positionierwerkzeug (23) kombiniert oder mit engem Abstand daneben angeordnet. Das Fügewerkzeug (7) hat in Längsrichtung (35) eine enge Komponentenanordnung und eine kompakte Bauweise. Die Verliersicherung (24) ist z.B. als steuerbarer Untergriffspanner ausgebildet, dessen Spannarm in Schließstellung das Bauteil (9) untergreift und zum Zustellen und Fügen des gegriffen Bauteils (9) in eine Ruhestellung weggeschwenkt wird.The captive device (24) can be arranged at any suitable location on the joining tool (7). It is preferably combined with the positioning tool (23) or arranged at a close distance next to it. The joining tool (7) has a narrow arrangement of components in the longitudinal direction (35) and a compact design. The captive device (24) is designed, for example, as a controllable undergrip clamp, the clamping arm of which grips under the component (9) in the closed position and is pivoted away into a rest position in order to advance and join the gripped component (9).
Das Fügen eines Bauteils (9) an ein Werkstück (8) kann in verschiedener Weise stattfinden. In der einen Variante können die zwei oder mehr Industrieroboter (3-6) das gemeinsam gegriffene Bauteil (9) vor dem Fügen parallel bzw. äquidistant zum Werkstück (8) ausrichten und dann zum Fügen gemeinsam und gleichzeitig an das Werkstück (8) andrücken und an den Fügestellen (36) beheizen. Die Zahl der Fügestellen (36) entspricht dabei der Zahl der Industrieroboter (3-6) und der Fügewerkzeuge (7). Wenn eine größere Zahl von Fügestellen (36) benötigt wird, können ein oder mehrere Industrieroboter (3-6) nach Beendigung des ersten Fügevorgangs ihr Fügewerkzeug (7) öffnen, vom Bauteil (9) lösen und zu einer anderen Bauteilstelle transportieren, dort greifen und erneut andrücken und beheizen. Die Versatzbewegung des Fügewerkzeugs (7) entlang der Längsrichtung (35) des Bauteils (9) kann mittels einer Roboterachse oder mittels der Fahrachse (16) bewirkt werden.The joining of a component (9) to a workpiece (8) can take place in various ways. In one variant, the two or more industrial robots (3-6) can align the jointly gripped component (9) parallel or equidistant to the workpiece (8) before joining and then press it together and simultaneously onto the workpiece (8) for joining and heat at the joints (36). The number of joining points (36) corresponds to the number of industrial robots (3-6) and joining tools (7). If a larger number of joining points (36) is required, one or more industrial robots (3-6) can open their joining tool (7) after completion of the first joining process, detach it from the component (9) and transport it to another component location, grab it there and Press again and heat. The offset movement of the joining tool (7) along the longitudinal direction (35) of the component (9) can be effected by means of a robot axis or by means of the travel axis (16).
In einer anderen Variante kann das Fügen mit Zustellen, Andrücken und Beheizen des gegriffenen Bauteils (9) in einer abwälzartigen Weise erfolgen. Bei der in
Der abwälzartige heftende Fügevorgang kann auch mit einer größeren Zahl von Industrierobotern (3-6) gemäß
Beim gezeigten und beschriebenen Fügeprozess soll das Bauteil (9) exakt am Werkstück (8) positioniert werden. Zu diesem Zweck sind eine externe und bevorzugt stationäre Messeinrichtung (12) sowie an den Industrierobotern (3-6), insbesondere an deren Fügewerkzeugen (7), eine mitgeführte Sensoreinrichtung (20) vorhanden. Die Messeinrichtung (12) und die Sensoreinrichtung (20) sind mit der besagten Steuerung verbunden.In the joining process shown and described, the component (9) should be positioned exactly on the workpiece (8). For this purpose, there is an external and preferably stationary measuring device (12) and a sensor device (20) carried along on the industrial robots (3-6), in particular on their joining tools (7). The measuring device (12) and the sensor device (20) are connected to said control.
Die externe Messeinrichtung (12) ist z.B. gemäß
Der Industrieroboter (3-6) drückt beim Fügen den Gegenhalter (29) des Fügewerkzeugs (7) und das gegriffene Bauteil (9) mit einer definierten, insbesondere steuerbaren oder regelbaren Kraft an das Werkstück (8). Die mitgeführte Sensoreinrichtung (20) dient zur Steuerung und ggf. Regelung des Fügeprozesses.When joining, the industrial robot (3-6) presses the counterholder (29) of the joining tool (7) and the gripped component (9) onto the workpiece (8) with a defined, in particular controllable or adjustable force. The sensor device (20) carried along serves to control and, if necessary, regulate the joining process.
Die mitgeführte Sensoreinrichtung (20) kann einen oder mehrere Sensoren (21,22) aufweisen. Ein solcher Sensor kann ein mechanische Belastungen aufnehmender Sensor (21) sein, mit dem die beim Fügen wirkende Andrückkraft des Industrieroboters (3-6) in einer oder mehreren Achsen, vorzugsweise in allen sechs Raumachsen erfasst werden kann. Der Sensor (21) kann z.B. als 6D-Kraftsensor oder als Kraft-Momenten-System ausgebildet sein. Er ist dem Fügewerkzeug (7) zugeordnet und kann sich an einer geeigneten Stelle im Kraftfluss befinden.The sensor device (20) carried can have one or more sensors (21, 22). Such a sensor can be a sensor (21) that absorbs mechanical loads. be, with which the pressing force of the industrial robot (3-6) acting during joining can be recorded in one or more axes, preferably in all six spatial axes. The sensor (21) can be designed, for example, as a 6D force sensor or as a force-torque system. It is assigned to the joining tool (7) and can be located at a suitable point in the force flow.
Beispielsweise ist er zwischen dem Anschluss (18) und dem Abtriebsglied (13) bzw. der Wechselkupplung angeordnet. Ein solcher Sensor (21) kann in einer anderen Variante in das Fügewerkzeug (7) integriert sein. Ferner ist es möglich, einen taktilen Industrieroboter mit einer integrierten und an den Roboterachsen angeordneten Sensorik einzusetzen, welche die extern einwirkenden Belastungen, insbesondere Momente, aufnimmt.For example, it is arranged between the connection (18) and the output member (13) or the interchangeable clutch. In another variant, such a sensor (21) can be integrated into the joining tool (7). Furthermore, it is possible to use a tactile industrial robot with an integrated sensor system arranged on the robot axes, which absorbs the external loads, in particular moments.
Ein anderer Sensor (22) kann zur Positionserfassung von Bauteil (9) und/oder Fügewerkzeug (7) dienen. Er ist einzeln oder mehrfach vorhanden und z.B. am Gestell (19) und in axialer Nähe zum Gegenhalter (29) sowie mit Abstand schwebend über dem gegriffenen Bauteil (9) angeordnet. Er hat eine definierte Lage gegenüber dem Gegenhalter (29) und erfasst bevorzugt berührungslos, insbesondere optisch, das Bauteil (9) und/oder das Werkstück (8).Another sensor (22) can be used to detect the position of the component (9) and/or the joining tool (7). It is present individually or in multiples and is arranged, for example, on the frame (19) and in axial proximity to the counterholder (29) and at a distance floating above the gripped component (9). It has a defined position relative to the counterholder (29) and preferably detects the component (9) and/or the workpiece (8) without contact, in particular optically.
Er kann z.B. als Abstandssensor ausgebildet sein, der optisch per Laserstrahl oder auf andere Weise, z.B. induktiv oder kapazitiv, den Abstand zum Bauteil (9) misst. Er kann alternativ oder zusätzlich als kantentastender Sensor ausgebildet sein, der am Rand des Fügewerkwerkzeugs (7) angeordnet und auf den stirnseitigen Rand des Bauteils (9) und ggf. des Werkstücks (8) gerichtet ist. Ein solcher Sensor (22) kann z.B. als Lasersensor ausgebildet sein.It can, for example, be designed as a distance sensor that measures the distance to the component (9) optically using a laser beam or in another way, for example inductively or capacitively. Alternatively or additionally, it can be designed as an edge-sensing sensor, which is arranged on the edge of the joining tool (7) and is directed towards the front edge of the component (9) and possibly the workpiece (8). Such a sensor (22) can be designed, for example, as a laser sensor.
Der Positionssensor (22) kann insbesondere das freie Ende des Bauteils (9) zur positionsgenauen Bildung der ersten endseitigen Fügestelle (36) detektieren. Er kann andererseits auch den Rand bzw. das axiale Ende des Werkstücks (8) detektieren, um die korrekte axiale Relativposition von Bauteil (9) und Werkstück (8) zum Fügen herzustellen.
Mit der Messeinrichtung (12) und der Sensoreinrichtung (20) kann die absolut genau eingemessene Fügeeinrichtung (2) an die Ist-Lage und die Ist-Ausrichtung des Werkstücks (8) und des gegriffenen Bauteils (9) adaptiert und bei Abweichungen nachgeführt werden. Hierüber ist eine exakte Positionierung, Ausrichtung und Zustellung des Bauteils (9) an das Werkstück (8) möglich.With the measuring device (12) and the sensor device (20), the absolutely precisely measured joining device (2) can be adapted to the actual position and the actual orientation of the workpiece (8) and the gripped component (9) and adjusted in the event of deviations. This enables precise positioning, alignment and delivery of the component (9) to the workpiece (8).
Abwandlungen der gezeigten und beschriebenen Ausführungsbeispiele sind in beliebiger Weise möglich. Insbesondere können deren Merkmale beliebig miteinander kombiniert, insbesondere vertauscht werden.Modifications of the exemplary embodiments shown and described are possible in any way. In particular, their features can be combined with one another as desired, in particular interchanged.
Die Fügeeinrichtung (2) kann statt der gezeigten und bevorzugten Industrieroboter (3-6) andere einachsig oder mehrachsig beweglichen Aktoren oder Handlingeinrichtungen aufweisen. Die Fügeverbindung kann auf andere physikalische Weise und mit Einsatz einer anderen Energieform durchgeführt werden. Zum Beispiel kann mit elektrischen oder elektromagnetischen Feldern, insbesondere Wechselfeldern, mit Strahlungsenergie oder dgl. gearbeitet werden.The joining device (2) can have other single-axis or multi-axis movable actuators or handling devices instead of the preferred industrial robots (3-6) shown. The joining connection can be carried out in a different physical way and using a different form of energy. For example, you can work with electric or electromagnetic fields, in particular alternating fields, with radiant energy or the like.
Die Fügeeinrichtung und das Fügeverfahren können außerdem in anderen technischen Bereichen eingesetzt und adaptiert werden. Dies kann z.B. der Bau von Fahrzeugkarosserien oder Fahrzeugaufbauten, insbesondere Lkw-Aufbauten sein. Außerdem können das Bauteil (9) und das Werkstück (8) eine andere Form haben und aus anderen Werkstoffen bestehen. Am Bauteil (9) und/oder am Werkstück (8) können spezielle vorbereitete Fügestellen, z.B. lokale Plattformen, ausgebildet werden. Ferner kann die Fügeeinrichtung (2) die am Werkstück (8) und/oder Bauteil (9) vorgesehenen Fügestellen vorpräparieren, z.B. durch einen Wärmeeintrag und/oder den Auftrag eines Klebe- oder Bindemittels oder auf andere Weise.The joining device and the joining method can also be used and adapted in other technical areas. This can be, for example, the construction of vehicle bodies or vehicle bodies, especially truck bodies. In addition, the component (9) and the workpiece (8) can have one have a different shape and consist of different materials. Special prepared joints, such as local platforms, can be formed on the component (9) and/or on the workpiece (8). Furthermore, the joining device (2) can pre-prepare the joining points provided on the workpiece (8) and/or component (9), for example by applying heat and/or applying an adhesive or binding agent or in another way.
- 11
- MontierstationMounting station
- 22
- FügeeinrichtungJoining device
- 33
- IndustrieroboterIndustrial robots
- 44
- IndustrieroboterIndustrial robots
- 55
- IndustrieroboterIndustrial robots
- 66
- IndustrieroboterIndustrial robots
- 77
- Fügewerkzeugjoining tool
- 88th
- Werkstück, Flächenstruktur, SkinWorkpiece, surface structure, skin
- 99
- Bauteil, StringerComponent, stringer
- 1010
- WerkstückträgerWorkpiece carrier
- 1111
- BauteilzuführungComponent feeding
- 1212
- Messeinrichtung extern, LasertrackerExternal measuring device, laser tracker
- 1313
- Abtriebsglied, RoboterhandOutput link, robot hand
- 1414
- BasisBase
- 1515
- RoboterarmRobot arm
- 1616
- zusätzliche Bewegungsachse, Fahrachseadditional movement axis, travel axis
- 1717
- Unterbausubstructure
- 1818
- Anschluss, RoboteranschlussConnection, robot connection
- 1919
- Gestellframe
- 2020
- SensoreinrichtungSensor device
- 2121
- Sensor, BelastungssensorSensor, load sensor
- 2222
- Sensor, PositionssensorSensor, position sensor
- 2323
- Positionierwerkzeug, ParallelspannerPositioning tool, parallel clamp
- 2424
- Verliersicherung, UntergriffspannerCaptive device, undergrip tensioner
- 2525
- GreifwerkzeugGripping tool
- 2626
- Hubgreifer, SauggreiferLift gripper, suction gripper
- 2727
- Saugelement festSuction element fixed
- 2828
- Saugelement schwimmendFloating suction element
- 2929
- Gegenhalter, BauteilanlageCounterholder, component system
- 3030
- BauteiloberseiteComponent top
- 3131
- DruckstempelPrint stamp
- 3232
- Druckkopf, HeizelementPrint head, heating element
- 3333
- Druckflächeprinting area
- 3434
- HeizeinrichtungHeating device
- 3535
- Längsrichtung, zentrale LängsachseLongitudinal direction, central longitudinal axis
- 3636
- Fügestellejoining point
- 3737
- Gestell, Untergestellframe, base frame
- 3838
- WerkstückaufnahmeWorkpiece holder
- 3939
- Magazin, BauteilrackMagazine, component rack
- 4040
- Zuführgerätfeeder
- 4141
- LadepositionLoading position
- 4242
- BereitstellungspositionDeployment position
Claims (15)
- Joining tool for the accurately fitting joining of preferably elongated components (9), in particular stringers, to flexible workpieces (8), in particular surface structures, wherein the joining tool (7) is heatable and has a connection (18) for an industrial robot (3-6) and a gripping tool (25) for a component (9), characterized in that the gripping tool (25) has a controllable lifting gripper (26) acting on the component upper side (30), in particular a suction gripper, and a heated counter-holder (29) arranged alongside, which likewise acts on the component upper side (30).
- Joining tool according to Claim 1, characterized in that the counter-holder (29) is designed as a preferably rigidly formed and arranged pressure ram (31) with a heated pressure head (32) which has a pressure surface (33) .
- Joining tool according to Claim 1 or 2, characterized in that the suction gripper (26) has a plurality of suction elements (27, 28), which are arranged one after another in the longitudinal direction (35) of the component (9), wherein one suction element (27) is arranged fixedly and the other suction element (28) is arranged laterally or transversely with respect to the longitudinal direction (35), in particular in a floating manner.
- Joining tool according to one of the preceding claims, characterized in that the joining tool (7) has a plurality of pressure heads (32) and a plurality of suction elements (27, 28), which are each arranged in pairs and at a distance on both sides of a central longitudinal axis (35).
- Joining tool according to one of the preceding claims, characterized in that the joining tool (7) has a positioning tool (23), in particular a parallel clamp, for the component (9) to be gripped.
- Joining tool according to one of the preceding claims, characterized in that the joining tool (7) has a controllable loss prevention device (24), in particular an under-grip clamp, for the component (9).
- Device for the accurately fitting joining of preferably elongated components (9), in particular stringers, to flexible workpieces (8), in particular surface structures, wherein the joining device (2) has a plurality of industrial robots (3-6) with joining tools (7) for the combined handling and joining of the component (9), characterized in that the joining tools (7) are designed according to one of Claims 1 to 6.
- Joining device according to Claim 7, characterized in that the industrial robots (3-6) are designed and controlled in such a way that they align the component (9) parallel and equally distant from the workpiece (8) before the joining and then press jointly on and heat the workpiece (8) for the joining, or in that the industrial robots (3-6) are designed and controlled in such a way that a plurality of industrial robots (4-6) initially hold the component (9) in a floating manner and then press successively on the workpiece (8) in a sequence and join it at some points.
- Joining device according to Claim 7 or 8, characterized in that the joining device (2) has a sensor device (20) that is preferably carried along, wherein the sensor device (20) preferably has a sensor (21) sensing mechanical loadings, which is assigned to the joining tool (7), and/or the sensor device (20) has a sensor (22) on the joining tool (7), which detects the position, in particular the axial position, of the gripped component (9) relative to the workpiece (8) or to a workpiece carrier (10) or in the gripping tool (15).
- Joining device according to Claim 7, 8 or 9, characterized in that the joining device (2) has an external measuring device (12), in particular a laser tracker, for the joining process.
- Method for the accurately fitting joining of preferably elongated components (9) in particular stringers, to flexible workpieces (8), in particular surface structures, having a joining device (2), which has a plurality of industrial robots (3-6) with joining tools (7) for the combined handling and joining of the component (9), wherein the joining tools (7) are heated and grip the component (9) with a gripping tool (25), characterized in that the gripping tool (25) acts on the component (9) on the component upper side (30) with a controllable lifting gripper (26), in particular a suction gripper, and likewise acts on the component upper side (30) with a heated counter-holder (29) arranged beside it.
- Method according to Claim 11, characterized in that the industrial robots (3-6) align the component (9) parallel and equally distant from the workpiece (8) before the joining and then press jointly on and heat the workpiece (8) for the joining, or in that a plurality of industrial robots (4-6) initially hold the component (9) in a floating manner and then press successively on the workpiece (8) in a sequence and join it at some points.
- Method according to Claim 11 or 12, characterized in that the position, in particular the axial position, of the gripped component (9) relative to the workpiece (8) or to a workpiece carrier (10) and/or in the gripping tool (15) is detected by using a sensor (22) on the joining tool (7), or the mechanical loading is sensed by using a sensor (22) on the joining tool (7).
- Method according to one of Claims 11 to 13, characterized in that the controllable lifting gripper (26) acts on the component upper side (30) and holds the component (9) on the upper side (30) and in the process draws it against and places it on the counter-holder (29) .
- Method according to one of Claims 11 to 14, characterized in that the pressure-resistant and rigid counter-holder (29) is used to press the component (9) onto the workpiece (8).
Applications Claiming Priority (2)
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DE202014101000.9U DE202014101000U1 (en) | 2014-03-06 | 2014-03-06 | Joining tool and joining device |
PCT/EP2015/054557 WO2015132316A1 (en) | 2014-03-06 | 2015-03-05 | Joining tool, joining device and joining method |
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EP3113915B1 true EP3113915B1 (en) | 2023-09-13 |
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EP (1) | EP3113915B1 (en) |
CN (1) | CN106103010B (en) |
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- 2015-03-05 EP EP15712080.9A patent/EP3113915B1/en active Active
- 2015-03-05 CN CN201580012168.7A patent/CN106103010B/en active Active
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CN106103010A (en) | 2016-11-09 |
DE202014101000U1 (en) | 2015-06-12 |
EP3113915A1 (en) | 2017-01-11 |
US20170066143A1 (en) | 2017-03-09 |
WO2015132316A1 (en) | 2015-09-11 |
CN106103010B (en) | 2018-05-25 |
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